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A probabilistic spectral graph matching algorithm for robust correspondence between lunar surface images

A probabilistic spectral graph matching algorithm for robust...

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World Congress on Intelligent control and automation (WCICA)

作者： Xu Yang Chuan-Kai Liu Zhi-Yong Liu Hong Qiao Bao-Feng Wang Zi-Dong Wang State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing Aerospace Flight Control Center School of Information Science and Technology Donghua University

The correspondence between key points is an important problem in lunar surface image processing, and further lays the foundation for the navigation of a rover and the terrain reconstruction of the lunar surface. However, the problem is still challenging due to the existence of large scale and rotation transformations, reflected view of the same scenery, and different illumination conditions between acquired images as the lunar rover moves forward. Traditional appearance matching algorithms, like SIFT, often fail in handling the above situations. By utilizing the structural cues between points, in this paper we propose a probabilistic spectral graph matching method to tackle the point correspondence problem in lunar surface images acquired by Yutu lunar rover which has been recently transmitted to the moon by China's Chang'e-3 lunar probe. Compared with traditional methods, the proposed method has three advantages. First, the incorporation of the structural information makes the matching more robust with respect to geometric transformations and illumination changes. Second, the assignment between points is interpreted in a probabilistic manner, and thus the best assignments can be easily figured out by ranking the probabilities. Third, the optimization problem can be efficiently approximately solved by spectral decomposition. Simulations on real lunar surface images witness the effectiveness of the proposed method.

关键词： Moon Probabilistic logic Image edge detection Surface treatment Accuracy Optimization Robustness

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A two-stage fuzzy budget allocation model in search auctions

A two-stage fuzzy budget allocation model in search auctions

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Rui Qin Yong Yuan Juanjuan Li The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479960590

Budget optimization is an important issue faced by advertisers in search auctions, and has significant impact on the design of various advertising strategies. Given a limited budget on a search market during a certain period, an advertiser has to distribute her budget to a series of sequential temporal slots (i.e., days, weeks, or months), during which advertisers must avoid the budget being used up quickly, so as to keep the budget for potential clicks with better performance in the future. Considering the optimal budgets over these temporal slots as fuzzy variables, we establish a two-stage fuzzy budget allocation model, and use particle swarm optimization (PSO) algorithm to solve it in case when these optimal budgets are characterized by discrete fuzzy variables. We also conduct experiments to validate our model and algorithm. The experimental results show that our model can outperform other five budget allocation strategies in terms of reducing the revenue loss of the advertiser.

关键词： Artificial intelligence

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Sequential Fusion and state Estimation for Asynchronous Multirate Multisensor Dynamic systems

Sequential Fusion and State Estimation for Asynchronous Mult...

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第三十三届中国控制会议

作者： Lu Jiang Liping Yan Bo Xiao Yuanqing Xia Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

A sequential fusion and state estimation algorithm for an asynchronous multirate multisensor dynamic system is presented in this *** dynamic system at the finest scale is *** are multiple sensors observing a single target independently with different sampling rates,and the observations are obtained *** present algorithm is shown to be more effective and efficient than the existed *** on a radar tracking system with three sensors are done and show the effectiveness of the present algorithm.

关键词： state estimation,sequential fusion,asynchronous,multirate multisensor,Kalman filter

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The Fusion of Multisensor Images with Multi-resolutions

The Fusion of Multisensor Images with Multi-resolutions

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第三十三届中国控制会议

作者： Liping Yan Bo Xiao Yuanqing Xia Meiling Wang Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479947249

Images taken by different sensors at different time instant with different resolutions are formulated by state space models, and are fused by use of Multiscale Kalman Filter(MKF). The effectiveness of the presented algorithm is shown by comparing it with the wavelet based method through experiments, where four performance measures are used. The performance evaluation indices are the root mean square errors(RMSE), the information entropy(Entropy), the space frequency(SF) and the space visibility(SV). Theretical analysis and experimental results show the effectiveness of the presented algorithm.

关键词： Image fusion,multiresolution,multiscale Kalman filter,state space model

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Security framework for cloud manufacturing

Security framework for cloud manufacturing

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ASME 2014 International Manufacturing Science and Engineering Conference, MSEC 2014 Collocated with the JSME 2014 International Conference on Materials and Processing and the 42nd North American Manufacturing Research Conference

作者： Wang, Yazhe Ma, Shunan Ren, Lei State Key Laboratory of Information Security Institute of Information Engineering Chinese Academy of Sciences Beijing100093 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Engineering Research Center of Complex Product Advanced Manufacturing Systems Ministry of Education Beijing100191 China

ISBN: (纸本)9780791845806

Cloud manufacturing has been considered as a promising new service-oriented manufacturing paradigm that can transform traditional industry. However security is one of the major issues which hamper the growth of cloud manufacturing industry. In this paper, we analyze the cloud manufacturing security issues and challenges, and propose a security framework for cloud manufacturing, which includes four levels: infrastructure security, identity and access management, data protection and security, and cloud security as a service. The Infrastructure security level can ensure an organization's core IT infrastructure security at the network, host, and application levels;Identity and access management level can improve operational efficiency and to comply with privacy and data protection requirements;Data protection and security level can help users evaluate their data security scenarios and make informed judgments regarding risk for their organizations;security as a service level, which includes web security service, storage security service and IAM(Identity and Access management) service, would extract security functions and capacities to assemble software as a service. The cloud manufacturing security framework we proposed can resolve the security issues and improve the security performance of cloud manufacturing industry. Copyright © 2014 by ASME.

关键词： Manufacture

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The design and optimization method of near space intelligent target generator

The design and optimization method of near space intelligent...

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Chinese control Conference (CCC)

作者： Xiaolong Han Chen Chen School of Automation Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Intelligent Control and complex decision-making Ministry of Education. Systems Beijing School of Automation Beijing Institute of Technology Beijing

This paper presents the design and optimization method of near space intelligent target generator to simulate the physical characteristics of the near space vehicle. Combined with High Level Architecture distributed simulation technology, a common, repeatable and verified platform for the near space vehicle has been provided. This method used 3D modeling software Creator and 3D visual rendering software Vega, two-dimensional map and three-dimensional vision were constructed to form a simulation environment, which enhanced the authenticity of the simulation. Based on particle swarm optimization, the intelligent path planning study of near space vehicle was conducted in this environment to make up for the inadequate intelligence of traditional target generators.

关键词： Solid modeling Generators Space vehicles Load modeling Path planning Radar

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The design of a mother robot for marsupial robotic system

The design of a mother robot for marsupial robotic system

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IEEE International Conference on Mechatronics and automation

作者： Peng Zhao Zhiqiang Cao Lingyi Xu Chao Zhou De Xu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China The Research Center of Precision Sensing and Control Chinese Academy of Sciences Beijing China

A mother or transporting robot is designed in this paper, which is dedicated to retrieve, transport and deploy the children or smaller robots to configure a robotic team called the marsupial robotic system. In order to manage children robots flexibly, a multi-floor docking station is mounted on the mother robot with a lifting platform which is dragged via lead-screw driving. Touch switches are utilized to initialize the lifting height and identify whether a child robot arrives at the parking position. Also, a dock camera is set on the top of the station to recognize different children robots for the purpose of deploying or retrieving. The locomotion ability is enhanced by combining the advantages of the wheeled-mobile platform and tracked-mobile platform with the concept of wheel-track combo, which barely increases the complexity of mechanism. Finally, a prototype of mother robot is developed and implemented.

关键词： Mobile robots Robot kinematics Robot sensing systems Computer interfaces Wheels Cameras

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EEG-based classification of upper-limb ADL using SNN for active robotic rehabilitation

EEG-based classification of upper-limb ADL using SNN for act...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Jin Hu Zeng-Guang Hou Yi-Xiong Chen Nikola Kasabov Nathan Scott State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Knowledge Engineering and Discovery Research Institute Auckland University of Technology Auckland New Zealand

Repetitive activities of daily living (ADL) and robotic active training are commonly practised in the rehabilitation of paralyzed patients, both of which have been proven rather effective to recover the locomotor function of impaired limbs. ADL classification based on electroencephalogram (EEG) is of great significance to perform active robotic rehabilitation for patients with complete spinal cord injury (SCI) who lose locomotion of affected limbs absolutely, where surface electromyography (sEMG) or active force signal can hardly be detected. It is a challenge to achieve a satisfying result in neuro-rehabilitation robotics using EEG signals due to the high randomness of the EEG data. A classification method is proposed based on spiking neural networks (SNN) to identify the upper-limb ADL of three classes with 14-channel EEG data. The continuous real-number signals are firstly encoded into spike trains through Ben's Spike Algorithm (BSA). The generated spikes are then submitted into a 3-D brain-mapped SNN reservoir called NeuCube trained by Spike Timing Dependant Plasticity (STDP). Spike trains from all neurons of the trained reservoir are finally classified using one version of dynamic evolving spiking neuron networks (deSNN) - deSNNs. Classifications are presented with and without NeuCube respectively on the same EEG data set. Results indicate that using the reservoir improves identification accuracy which turns out pretty promising despite that EEG data is highly noisy, low frequently sampled, and only from 14 channels. The classification technique reveals a great potential for the further implementation of active robotic rehabilitation to the sufferers of complete SCI.

关键词： Neurons Electroencephalography Training Robot kinematics Encoding Reservoirs

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Modeling interactions between low-level and high-level features for human action recognition

Modeling interactions between low-level and high-level featu...

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作者： Zhou, Wen Wang, Chunheng Xiao, Baihua Zhang, Zhong Shao, Yunxue State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

Recognizing human action in complex scenes is a challenging problem in computer vision. Some action-unrelated concepts, such as camera position features, could significantly affect the appearance of local spatio-temporal features, and therefore the performance of low-level features based methods degrades. In this letter, we define the action-unrelated concept: the position of camera as high-level features. We observe that they can serve as a prior to local spatio-temporal features for human action recognition. We encode this prior by modeling interactions between spatio-temporal features and camera position features. We infer camera position features from local spatio-temporal features via these interactions. The parameters of this model are estimated by a new max-margin algorithm. We evaluate the proposed method on KTH, IXMAS and Youtube actions datasets. Experimental results show the effectiveness of the proposed method. © 2013 The institute of Electronics, Information and Communication Engineers.

关键词： Cameras

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Index Modulated OFDM with Interleaved Grouping for V2X Communications

Index Modulated OFDM with Interleaved Grouping for V2X Commu...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Xiang Cheng Miaowen Wen Liuqing Yang Yuke Li School of Electronics Engineering and Computer Science Peking University National Mobile Communications Research Laboratory Southeast University School of Electronic and Information Engineering South China University of Technology State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

The rapid penetration of intelligent transportation systems（ITS） into the conventional transportation infrastructure urgently calls for high spectral efficiency high reliability communication technology for vehicle-to-vehicle and vehicle-to-infrastructure（V2X） *** orthogonal frequency division multiplexing（OFDM） is widely considered as a promising candidate for such applications,in this paper we propose a novel variation of OFDM for improved spectral efficiency as well as enhanced reliability in V2 X channels with correlated frequency-selective fading and inevitable Doppler *** proposed scheme is built upon a recently emerging technique termed as index modulated（IM-）***,different from the existing localized subcarrier grouping,we propose interleaved subcarrier *** then carry out analytical and simulated comparisons to demonstrate the merits of this new scheme in terms of both the bit error rate（BER）performance and the maximum achievable rate（MAR） of the overall system,in V2 X channels.

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